How to add Lidar plugins for gazebo

  • My current setup is, Ubuntu 22.04 LTS, Gazebo garden. I have used the OS1 lidar files which is available(given below), I came across that reviewing the darpa challenge drones.
  • I have added the lidar link to x500 model sdf with the dae files as well, I understand that we need to add a plugin and publish the point clouds as a topic, so how can I do that?
  • I have mentioned below resources used, can anyone please let me know how to make the lidar working and checking the lidar points in Rviz. Iā€™m unable to find how to attach the lidar plugin files and where should I attach them?
  • Please let me know this is possible or not?
  • Currently I can see the OS1 lidar attached to the top of the drone.